Ship bottom marine organism cleaning underwater robot
阅读说明:本技术 一种船底海生物清理水下机器人 (Ship bottom marine organism cleaning underwater robot ) 是由 朱宝星 于复生 梁为 严高超 祝凯旋 张华强 于 2019-12-13 设计创作,主要内容包括:一种船底海生物清理水下机器人,属于船底海生物清理设备领域,一种自行车脚蹬子打气装置,属于自行车配件领域,是由上壳体、下壳体、冲击装置、吸附装置、运动装置、清理装置、CCD、LED灯、缆线接头、清理电机、主动齿轮和拖缆组成的,该发明的有益之处在于:该装置能够对船底附着的坚硬海生物进行清理和去除;运动装置采用舵机带动摆动杆摆动进而带动柔性蒙皮波动,运动时的噪音小;冲击装置能够对船底海生物的坚硬外壳进行破坏,以实现进一步的清理;清理装置具有软质板刷和硬质刮板,能够对破碎的船底海生物进行有效的清除。(The invention discloses an underwater robot for cleaning marine organisms at the bottom of a ship, belongs to the field of marine organism cleaning equipment at the bottom of a ship, and relates to a bicycle pedal inflating device, which belongs to the field of bicycle accessories and consists of an upper shell, a lower shell, an impact device, an adsorption device, a movement device, a cleaning device, a CCD (charge coupled device), an LED (light-emitting diode) lamp, a cable connector, a cleaning motor, a driving gear and a towing cable, wherein the underwater robot has the beneficial effects that: the device can clean and remove hard marine organisms attached to the bottom of the ship; the moving device adopts a steering engine to drive the swinging rod to swing so as to drive the flexible skin to fluctuate, and the noise is low during the movement; the impact device can damage the hard shell of the marine organism at the bottom of the ship so as to realize further cleaning; cleaning device has soft scrubbing brush and stereoplasm scraper blade, can carry out effectual cleaing away to broken ship bottom sea creature.)
1. The utility model provides a ship bottom marine organism clearance underwater robot, is by last casing, lower casing, impact device, adsorption equipment, telecontrol equipment, cleaning device, CCD, LED lamp, cable joint, clearance motor, driving gear and tow cable are constituteed, its characterized in that: two side surfaces inside the upper shell are rotatably connected with two ends of the cleaning device, the two motion devices are respectively fixedly connected with two sides of the bottom surface inside the lower shell, the adsorption device is fixedly connected with one side of the bottom surface of the lower shell, the impact device is fixedly connected with one side of the bottom surface of the lower shell, further, the side surface of the impact device is fixedly connected with the side surface of the adsorption device, the periphery of the bottom surface of the upper shell is fixedly connected with the periphery of the top surface of the lower shell, four CCDs are respectively fixedly connected with the periphery of the top surface of the upper shell, two LED lamps are respectively fixedly connected with two sides of the top surface of the upper shell, one end of the cable joint is fixedly connected with one end of the outer side surface of the lower shell, the other end of the cable joint is fixedly connected with one end of a towing cable, the other end of the towing, the driving gear is connected with the cleaning device in a gear matching mode.
2. The marine bottom bioremediation underwater robot of claim 1 wherein: the lower shell comprises a shell wall, leak holes, swing holes, cable holes, frame holes and plate holes, wherein the leak holes are formed in one end of the bottom surface of the shell wall, a plurality of swing holes are formed in two side surfaces inside the shell wall respectively, the cable holes are formed in one side surface of the shell wall, a plurality of frame holes are formed in two sides of the bottom surface of the shell wall respectively, and a plurality of plate holes are formed in one side of the bottom surface of the shell wall.
3. The marine bottom bioremediation underwater robot of claim 1 wherein: the impact device comprises a toothed plate, a short shaft, a fixed seat and electromagnets, wherein one end of the toothed plate is rotatably connected with the circumferential surface of the short shaft, one end of the fixed seat is rotatably connected with the circumferential surface of the short shaft, one end of the toothed plate is further rotatably connected with one end of the fixed seat, and the two electromagnets are respectively and fixedly connected with two sides in the middle of the inner side surface of the fixed seat; one side surface of the toothed plate is of an intermittent sawtooth structure.
4. The marine bottom bioremediation underwater robot of claim 1 wherein: the adsorption device comprises a vertical plate, long racks, lifting plates, round seats, magnets, lifting motors and lifting gears, wherein the four long racks are divided into two groups on average and are fixedly arranged on two sides of the side surface of the vertical plate respectively;
the vertical plate is composed of a long plate wall, a short plate wall, sliding columns, line holes, fixing holes, rack holes and positioning holes, one side face of the long plate wall is fixedly connected with one side face of the short plate wall, the side faces of the two sliding columns are fixedly connected with the two sides of the side face of the long plate wall respectively, the two sides of the side face of the long plate wall are provided with the two line holes respectively, the top side of the side face of the long plate wall is provided with a plurality of fixing holes, the side face of the long plate wall is symmetrically provided with eight rack holes by the two sliding columns respectively, and the bottom face of the short plate wall is provided with a plurality of positioning holes; the cleaning motor and the lifting motor are waterproof motors; the magnet material be neodymium iron boron.
5. The marine bottom bioremediation underwater robot of claim 1 wherein: the moving device consists of a fixed frame, steering engines, swinging rods and a skin, wherein the side surfaces inside the fixed frame are respectively and fixedly provided with a plurality of steering engines, one end of each swinging rod is fixedly arranged on the side surface of each steering engine in a bonding mode, and the side surfaces of the swinging rods are fixedly connected with the side surface of the skin in a bonding mode; the steering engine is a waterproof steering engine.
6. The marine bottom bioremediation underwater robot of claim 1 wherein: the cleaning device comprises a driving gear, a belt wheel shaft, a synchronous belt, a driven shaft, a scrubbing brush and a scraper, wherein the driven gear is fixedly connected with one end of the circumferential surface of the belt wheel shaft, the circumference of the belt wheel shaft is rotatably connected with one end of the inner side of the synchronous belt, the circumference of the driven shaft is rotatably connected with the other end of the inner side of the synchronous belt, the bottom surfaces of the scrubbing brushes are fixedly connected with the outer side surface of the synchronous belt in a bonding mode, the bottom surfaces of the scraper are fixedly connected with the outer side surface of the synchronous belt in a bonding mode, and the scrubbing brush and the scraper are.
7. The marine bottom bioremediation underwater robot of claim 1 wherein: the cleaning motor is a waterproof motor.
Technical Field
The invention relates to a ship bottom marine organism cleaning underwater robot, in particular to a ship bottom marine organism cleaning underwater robot which adopts a moving device with a skin and a cleaning device, and belongs to the field of ship bottom marine organism cleaning equipment.
Background
Ships and naval vessels sail and berth in sea water, so that the breeding of marine organisms at the bottom of the ships is difficult to avoid. The ship self gravity is increased due to the bottom of the fouling formed by the adhesion of marine organisms, the navigation speed is reduced and the fuel consumption is greatly increased during navigation, and although scientific researchers develop various antifouling paints to reduce the adhesion of marine organisms, the service life of the coating is short. For marine organisms at the bottom of a ship, underwater cleaning is mostly adopted at present, and because marine organisms attached to the bottom of the ship have different hardness, the marine organisms with hard shells are difficult to clean. Therefore, in terms of cleaning marine organisms on the bottom of a ship, a ship bottom cleaning device having a function of cleaning soft and hard marine organisms is urgently needed, but the device is lacking at present.
Disclosure of Invention
Aiming at the defects, the invention provides an underwater robot for cleaning marine organisms on the bottom of a ship.
The invention is realized by the following technical scheme: a ship bottom marine organism cleaning underwater robot comprises an upper shell, a lower shell, an impact device, an adsorption device, a motion device, a cleaning device, a CCD (charge coupled device), LED (light emitting diode) lamps, a cable joint, a cleaning motor, a driving gear and a towing cable, wherein two inner side surfaces of the upper shell are rotatably connected with two ends of the cleaning device, the two motion devices are respectively and fixedly connected with two sides of the inner bottom surface of the lower shell, the adsorption device is fixedly connected with one side of the bottom surface of the lower shell, the impact device is fixedly connected with one side of the bottom surface of the lower shell, the side surface of the impact device is fixedly connected with the side surface of the adsorption device, the periphery of the bottom surface of the upper shell is fixedly connected with the periphery of the top surface of the lower shell, the four CCDs are respectively and fixedly connected with the periphery of the top surface of the upper shell, the two LED lamps are respectively and fixedly, the other end of the cable joint is fixedly connected with one end of a towing cable, the other end of the towing cable is fixedly connected with a cleaning motor connected with an operation platform on the ship and one side of the inner top surface of the upper shell, a driving gear is fixedly connected with one end of an output shaft of the cleaning motor, and the driving gear is connected with a cleaning device in a gear matching mode;
the lower shell consists of a shell wall, leak holes, swing holes, cable holes, frame holes and plate holes, wherein the leak holes are formed in one end of the bottom surface of the shell wall;
the impact device comprises a toothed plate, a short shaft, a fixed seat and electromagnets, wherein one end of the toothed plate is rotatably connected with the circumferential surface of the short shaft, one end of the fixed seat is rotatably connected with the circumferential surface of the short shaft, one end of the toothed plate is further rotatably connected with one end of the fixed seat, and the two electromagnets are respectively and fixedly connected with two sides in the middle of the inner side surface of the fixed seat;
the adsorption device comprises a vertical plate, long racks, lifting plates, round seats, magnets, lifting motors and lifting gears, wherein the four long racks are divided into two groups on average and are fixedly arranged on two sides of the side surface of the vertical plate respectively;
the vertical plate is composed of a long plate wall, a short plate wall, sliding columns, line holes, fixing holes, rack holes and positioning holes, one side face of the long plate wall is fixedly connected with one side face of the short plate wall, the side faces of the two sliding columns are fixedly connected with the two sides of the side face of the long plate wall respectively, the two sides of the side face of the long plate wall are provided with the two line holes respectively, the top side of the side face of the long plate wall is provided with a plurality of fixing holes, the side face of the long plate wall is symmetrically provided with eight rack holes by the two sliding columns respectively, and the bottom face of the short plate wall is provided with a plurality of positioning holes;
the moving device consists of a fixed frame, steering engines, swinging rods and a skin, wherein the side surfaces inside the fixed frame are respectively and fixedly provided with a plurality of steering engines, one end of each swinging rod is fixedly arranged on the side surface of each steering engine in a bonding mode, and the side surfaces of the swinging rods are fixedly connected with the side surface of the skin in a bonding mode;
the cleaning device comprises a driving gear, a belt pulley shaft, a synchronous belt, a driven shaft, a scrubbing brush and a scraping plate, wherein the driven gear is fixedly connected with one end of the circumferential surface of the belt pulley shaft;
the cleaning motor and the lifting motor are waterproof motors;
the steering engine is a waterproof steering engine;
the magnet is made of neodymium iron boron;
one side surface of the toothed plate is of an intermittent sawtooth structure.
The invention has the advantages that: the device can clean and remove hard marine organisms attached to the bottom of the ship; the moving device adopts a steering engine to drive the swinging rod to swing so as to drive the flexible skin to fluctuate, and the noise is low during the movement; the impact device can damage the hard shell of the marine organism at the bottom of the ship so as to realize further cleaning; the cleaning device is provided with a soft scrubbing brush and a hard scraping plate, and can effectively clean broken marine organisms at the bottom of the ship; the underwater robot can be adsorbed to the bottom of the ship by the adsorption device through the magnet, so that the overall stability in the cleaning process is improved; the lower shell is provided with a leakage hole, and marine organisms crushed and dropped by the impact device can fall through the leakage hole; the adsorption device can be lifted and can be lowered into the lower shell when not being adsorbed; the magnet is made of neodymium iron boron, so that the adsorption force of the device on the bottom of the ship is increased; the surface of a toothed plate in the adsorption impact device is composed of an intermittent sawtooth structure, so that the destructiveness to the hard marine organisms at the bottom of the ship is increased.
Drawings
FIG. 1 is an axial schematic view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken from a top view A-A of the present invention;
FIG. 4 is a lower housing axis schematic view;
FIG. 5 is a top view of the lower housing;
FIG. 6 is a schematic view of an impact device;
FIG. 7 is a schematic view of an adsorption apparatus;
FIG. 8 is a schematic view of the connection between the lifting plate and the vertical plate;
FIG. 9 is a front view of the riser;
FIG. 10 is a bottom view of the riser;
FIG. 11 is a schematic view of the riser axis;
FIG. 12 is a schematic axial view of the exercise apparatus;
FIG. 13 is a schematic view of a swing lever connection;
FIG. 14 is a schematic view of the cleaning motor coupled to the cleaning apparatus;
FIG. 15 is a schematic axial view of the cleaning apparatus;
fig. 16 is a front view of the cleaning apparatus.
In the figure, 1, an upper shell, 2, a lower shell, 201, a shell wall, 202, a leak hole, 203, a swinging hole, 204, a cable hole, 205, a frame hole, 206, a plate hole, 3, an impact device, 301, a toothed plate, 302, a short shaft, 303, a fixed seat, 304, an electromagnet, 4, an adsorption device, 401, a vertical plate, 40101, a long plate wall, 40102, a short plate wall, 40103, a sliding column, 40104, a wire hole, 40105, a fixed hole, 40106, a rack hole, 40107, a positioning hole, 402, a long rack, 403, a lifting plate, 404, a round seat, 405, a magnet, 406, a lifting motor, 407, a lifting gear, 5, a moving device, 501, a fixed seat, 502, a steering engine, 503, a swinging rod, 504, a skin covering, 6, a cleaning device, 601, a driven gear, 602, a belt wheel shaft, 603, a synchronous belt, 604, a driven shaft, 605, a plate brush, 606, a scraper, 7, a CCD, 8, an LED lamp, 9, a, 11. drive gear, 12, streamer.
Detailed Description
A ship bottom marine organism cleaning underwater robot comprises an
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the moving
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one side surface of the
When the device is used, the device is placed under water, the swinging
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
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